The content of the invention
The embodiments of the invention provide a kind of robot localization air navigation aid, system, storage medium and robot, it is intended to solvesThe problem of certainly existing robot localization air navigation aid positioning precision is low, and navigation route planning accuracy rate is low.
First aspect of the embodiment of the present invention provides a kind of robot localization air navigation aid, including：
Multiple Beacon base stations are arranged in the default point of scene in advance, and gather scene cartographic information；
Robot receives destination；
The robot carries out Bluetooth communication with the multiple Beacon base stations, obtains the robot and each BeaconThe signal reception power of base station, the machine is calculated according to the signal reception power of the robot and multiple Beacon base stationsDevice people and the distance of each Beacon base stations；
Obtained according to the robot and the distance of the multiple Beacon base stations and the positional information of each Beacon base stationsTo the current location information of the robot；
The machine is planned according to the current location information of the robot, the positional information of destination and scene cartographic informationThe course of device people and navigation.
Optionally, it is described to arrange multiple Beacon base stations in the default point of scene in advance, and scene cartographic information is gathered, wrapInclude：
Multiple Beacon base stations are arranged in the default point of scene；
Gather scene cartographic information；
Position in the scene cartographic information is obtained in the correspondence position of scene according to the multiple Beacon base stationsInformation.
Optionally, the scene cartographic information is two-dimensional map information or three-dimensional map information, and the positional information is pairThe two-dimensional coordinate or three-dimensional coordinate answered.
Optionally, it is described to be believed according to the current location information of the robot, the positional information of destination and scene mapBreath plans the course of the robot and navigation, including：
According to the current location information of the robot, the positional information of destination and scene cartographic information, generate from instituteCurrent location information is stated to the shortest distance route of the positional information of destination, there is multiple continuous sit in the shortest distance routePunctuate, the robot is controlled to be advanced successively along the multiple continuous coordinate points.
Optionally, before the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The positional information of each Beacon base stations is stored in the database of the robot in advance.
Optionally, after the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The robot obtains corresponding positional information according to the Beacon base station names received from the database.
Alternatively, methods described also includes：
The robot is controlled to avoid the barrier in course using slam recognition methods.
Second aspect of the embodiment of the present invention provides a kind of robot localization navigation system, including：
Setup module, for arranging multiple Beacon base stations in the default point of scene in advance, and gather scene cartographic information；
Receiving module, destination is received for robot；
Range finder module, Bluetooth communication is carried out for the robot and the multiple Beacon base stations, obtains the machinePeople and the signal reception power of each Beacon base stations, according to the robot and the signal reception power of multiple Beacon base stationsThe distance of the robot and each Beacon base stations is calculated；
Locating module, for the distance according to the robot and the multiple Beacon base stations and each Beacon base stationsPositional information obtain the current location information of the robot；
Navigation module, for the current location information according to the robot, the positional information of destination and scene mapThe course of robot described in information planning and navigation.
Third aspect present invention provides a kind of computer-readable recording medium, is stored thereon with computer program, calculatesWhen machine program is executed by processor, for performing robot localization air navigation aid as described above.
Fourth aspect present invention provides a kind of robot, including memory, processor and is stored on the memoryAnd the computer program that can be run on the processor, realized as described above during computer program described in the computing deviceRobot localization air navigation aid.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
In the present invention, multiple Beacon base stations are arranged in the default point of scene in advance, and gather scene cartographic information；RobotReceive destination；The robot and the multiple Beacon base stations carry out Bluetooth communication, obtain the robot with it is eachThe signal reception power of Beacon base stations, it is calculated according to the robot and the signal reception power of multiple Beacon base stationsThe robot and the distance of each Beacon base stations；According to the distance of the robot and the multiple Beacon base stations and respectivelyThe positional information of individual Beacon base stations obtains the current location information of the robot；According to the present bit confidence of the robotBreath, the positional information of destination and scene cartographic information plan the course of the robot and navigation；So that robotPositioning result is more accurate with route planning, and the application scenarios of robot are more abundant, improves the location navigation essence of robotTrue rate.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present inventionEmbodiment be described in detail.Many details are elaborated in the following description in order to fully understand this hairIt is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be notSimilar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the inventionThe implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description toolThe purpose of the embodiment of body, it is not intended that in the limitation present invention.Each technical characteristic of above example can carry out arbitrary groupClose, to make description succinct, combination not all possible to each technical characteristic in above-described embodiment is all described, however,As long as contradiction is not present in the combination of these technical characteristics, the scope of this specification record is all considered to be..
Referring to Fig. 1, one embodiment of the robot localization air navigation aid in the embodiment of the present invention includes：
101st, multiple Beacon base stations are arranged in the default point of scene in advance, and gathers scene cartographic information.
In the present embodiment, the scene is interior, for example the indoor application environment such as museum, museum, conference and exhibition center, certainlyAlso outdoor can be applied the present invention to according to actual conditions.Beacon (Chinese " beacon ", " beacon ") is a kind of " neighbor systems(Proximity System)”.Within the system, smart mobile phone, tablet personal computer are operated in, on wearable or other computing devicesThe signal that " Beacon equipment " can be sent of application respond.Beacon is exactly one kind by low-power Bluetooth technology(Bluetooth Low Energy) realizes pinpoint equipment, indoor one Beacon signal transmitting base station of placement, thisBase station can create a signal area, and information search is actively carried out without user, when user carries mobile device entering signalCorresponding program will actively prompt the user whether to need to access this signal network when region, the application in mobile phone afterwardsProgram user from being divided into a distance from signal launch installation nearly (near), it is moderate (medium) and remote (far), it is accurately rightUser is positioned, and passes on corresponding information to him according to the particular context that user is in.It is existing on Beacon base stationsThere is technology, beacon base stations constantly send beacon broadcasting packets, and the message includes transmission power, i.e. signal intensity.This implementationExample pre-sets multiple Beacon base stations, and each Beacon base stations fixed point is set, and then gathers the cartographic information of scene, including fieldRoad information, obstacle information and elevation information in scape etc..This is to subsequently position.
102nd, robot receives destination.
In the present embodiment, in the scene during applied robot, robot can pass through phonetic incepting, input through keyboard or and visitorThe modes such as data in mobile phone interaction receive destination, and so as to be navigated, specifically reception destination mode has a variety of, herein no longerIt is described in detail.
103rd, the robot and the multiple Beacon base stations carry out Bluetooth communication, obtain the robot with it is eachThe signal reception power of Beacon base stations, it is calculated according to the robot and the signal reception power of multiple Beacon base stationsThe robot and the distance of each Beacon base stations.
In the present embodiment, bluetooth module is provided with the robot, so, what robot can be set with fixed point in advanceBeacon base stations carry out Bluetooth communication.The robot for carrying bluetooth module receives the beacon broadcasting packets of Beacon base stations transmissionAfterwards, receiving power, that is, signal strength values are measured, are brought into the function of power attenuation and distance relation, can be calculatedGo out distance of the robot apart from the beacon base stations.In practical application, the power attenuation is with distance relation：D=10^((abs(RSSI)-A)/(10*n))；Wherein, d is distance, and RSSI is that the bluetooth module of robot receives Beacon base stationsThe power of Bluetooth signal, n are the environmental attenuation factor, and A is connecing when the bluetooth module distance of Beacon base stations and robot is 1 meterThe power received, in general, A are general constant, and abs is ABS function.There are a variety of meters in the prior art in BeaconCalculation mode calculates distance between the two by signal reception power, and above-mentioned relation is only a kind of mode therein, amount of calculationIt is small, the high preferred scheme of accuracy.So, can be calculated between robot and each Beacon base stations by above-mentioned relationDistance.
Preferably, in practical application, because the Beacon base stations that fixed point is set are more, the present invention can preferential selected distanceThe nearest at least two Beacon base stations of robot, are calculated current in robot moving process using multipoint positioning algorithmPosition coordinates.In two-dimensional coordinate system, then the current two-dimensional coordinate of robot can be obtained by choosing at least two Beacon base stations；And in three-dimensional system of coordinate, then need to choose at least three Beacon base stations, according to robot and the signal of this at least three base stationStrength co-mputation distance and then calculate three-dimensional coordinate.
104th, believed according to the position of the distance and each Beacon base stations of the robot and the multiple Beacon base stationsBreath obtains the current location information of the robot.
In the present embodiment, according to the distance between robot and each Beacon base stations being calculated, then further according toThe positional information of each Beacon base stations, the current location information of robot can be drawn by multipoint positioning algorithm.Institute's rhemeConfidence breath can be two-dimensional coordinate or three-dimensional coordinate or latitude and longitude information etc..The present embodiment is using robot apart from each beaconThe distance of base station and the position of each Beacon base stations, you can the function of multipoint positioning is realized, by multipoint positioning algorithm, fromAnd calculate the current location of robot.There are a variety of implementations on specific location algorithm, in Beacon technologies and iBeaconHave in technology, be no longer described in detail herein.
105th, institute is planned according to the current location information of the robot, the positional information of destination and scene cartographic informationState the course of robot and navigation.
In the present embodiment, according to the current location information for the robot being calculated, the positional information and scene of destinationCartographic information plans the course of the robot, and specific principle is beeline.Preferably, according to the robotCurrent location information, the positional information of destination and scene cartographic information, are generated from the current location information to destinationThe shortest distance route of positional information, have multiple continuous coordinate points in the shortest distance route, control the robot alongThe multiple continuous coordinate points are advanced successively.So, the location navigation to robot can be realized, is determined using indoor BeaconPosition technology to robot localization and then navigation, to make the scene of robot application more rich, and positioning result and route planning are moreAccurately.
Further, it is described to arrange multiple Beacon base stations in the default point of scene in advance, and scene cartographic information is gathered, wrapInclude：
Multiple Beacon base stations are arranged in the default point of scene；
Gather scene cartographic information；
Position in the scene cartographic information is obtained in the correspondence position of scene according to the multiple Beacon base stationsInformation.
In the present embodiment, because fixed point is provided with multiple Beacon base stations in advance, then in the cartographic information of collection sceneWhen, it can correspond to and obtain positional information of each Beacon base stations in scene cartographic information.
Preferably, the scene cartographic information is two-dimensional map information or three-dimensional map information, and the positional information is pairThe two-dimensional coordinate or three-dimensional coordinate answered.In the present embodiment, due to being applied in different scenes, some scenes only need two-dimentional seatMark, it can meet that robot navigation requires, some scenes need three-dimensional coordinate, and robot navigates.
It is illustrated below with two-dimensional coordinate：In practical application, the present invention can be to the indoor moving scene of robotTwo-dimensional coordinate system is established, administration positions multiple Beacon base stations inside scene, and each Beacon base stations have in two-dimensional coordinate systemCorresponding two-dimensional coordinate.According to the two-dimensional coordinate of multiple Beacon base stations and robot and the distance of these Beacon base stations, justChanging coordinates of the robot in two-dimensional coordinate system can be calculated, then according to changing coordinates and destination coordinate and two-dimensional mapInformation, so as to cook up most short course and navigation.On three-dimensional coordinate similarly, here is omitted.
Preferably, for convenience of calculation, and floor is simultaneously inconvenient above and below robot during practical application, robot of the inventionPositioning navigation method can typically establish the coordinate system of two dimension according to scene, then be assigned according to the position of each base station in the sceneCoordinate, and then the coordinate of follow-up calculating robot is carried out so that the step such as location navigation.
Further, before the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The positional information of each Beacon base stations is stored in the database of the robot in advance.
In the present embodiment, the information data that Beacon base stations are sent has the limitation of certain length, for later maintenance sideJust, general indoor positioning technologies, main information can be stored in the database of robot, then according to the base station receivedTitle (title has uniqueness) compared with database, and then obtain the other informations such as the Beacon base station coordinates.
Further, after the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The robot obtains corresponding positional information according to the Beacon base station names received from the database.
Further, the robot localization air navigation aid also includes：
The robot is controlled to avoid the barrier in course using slam recognition methods.
In the present embodiment, because guide to visitors robot in the market is mainly moved using vision SLAM identifying systemsDynamic navigation, when surrounding objects Depth Blur, mark (such as faces a colourless wall) when not clear and definite enough and is easy for route confusion occurPhenomenon.In order to make up indoor guide to visitors robot vision SLAM identifying systems positioning limitation, the present embodiment is using in bluetooth roomThe advantages of location technology, mixed positioning is carried out, while the route planning function to daily guide to visitors optimizes.Identified on slamMethod, it is prior art, is no longer described in detail herein.In practical application, used in the present embodiment based on bluetooth indoor locating system,Positioning method supplemented by vision SLAM identifying systems；When it is determined that behind destination, robot selects according to visitor in coordinate systemThe coordinate of destination, with reference to the road in map, the continuous coordinate points in shortest distance route are generated, are positioned using indoor bluetoothSystem determines that robot self-position moves to destination while adjusts route, and slam identifying systems are utilized during movementAvoid barrier on route.In practical application, robot obtains the feature of the image of surrounding objects by camera, work as machineIn the picture frame that people's camera captures, when characteristic point and lines less (for example more than given threshold), that is, think that depth showsIt is fuzzy, for example there is white wall etc. in face of robot, then corresponding control machine people detours.
It should be noted that the citing simply explanation to operating procedure in the present embodiment, not to operating procedureForm any restrictions.
The robot localization air navigation aid in the embodiment of the present invention is described above is, will be described below in the embodiment of the present inventionRobot localization navigation system, referring to Fig. 2, one embodiment of the robot localization navigation system in the embodiment of the present inventionIncluding：
Setup module 201, for arranging multiple Beacon base stations in the default point of scene in advance, and gather scene map letterBreath；
Receiving module 202, destination is received for robot；
Range finder module 203, Bluetooth communication is carried out for the robot and the multiple Beacon base stations, obtains the machineDevice people and the signal reception power of each Beacon base stations, work(is received according to the robot and the signal of multiple Beacon base stationsThe distance of the robot and each Beacon base stations is calculated in rate；
Locating module 204, for the distance according to the robot and the multiple Beacon base stations and each BeaconThe positional information of base station obtains the current location information of the robot；
Navigation module 205, for current location information, the positional information of destination and the scene according to the robotThe course of robot and navigation described in figure information planning.
It should be noted that robot localization is led in embodiment described in the effect of each module and Fig. 1 in the embodiment of the present inventionThe effect of each step of boat method is similar, and here is omitted.
The angle of slave module is described in detail to the robot localization navigation system in the present invention above, below from hardRobot in the embodiment of the present invention is described the angle of part processing.
Further, present invention also offers a kind of robot, the robot includes memory, processor and is stored inRealize that above-mentioned robot determines on reservoir and the computer program that can run on a processor, during computing device computer programThe step of position air navigation aid.
Referring to Fig. 3, the robot includes the processor 301, built-in storage 302, bluetooth mould connected by system busBlock and 303 non-volatile memory mediums.Wherein, the processor 301 of robot is used to provide calculating and control ability.The robotMemory include non-volatile memory medium 304, built-in storage 302.The non-volatile memory medium 304 of the robot storesThere are operating system and computer-readable instruction, the built-in storage 302 of the robot is the operation system in non-volatile memory mediumThe operation of system and computer-readable instruction provides environment.To realize one kind when the computer-readable instruction is performed by processor 301Robot localization air navigation aid.Bluetooth module 302 is used to carry out Bluetooth communication with multiple Beacon base stations, so as to obtain bluetooth letterNumber signal reception power.Robot can also have display screen, and display screen can be that LCDs or electric ink are shownScreen etc., display screen can also possess input unit, and input unit can be the touch layer or robot covered on display screenButton, trace ball or Trackpad or the external keyboard of upper setting, Trackpad or mouse etc..Computing device calculatesFollowing steps can be performed during machine readable instruction：Receive destination；The robot carries out blue with the multiple Beacon base stationsTooth communicates, and obtains the signal reception power of the robot and each Beacon base stations, according to the robot with it is multipleThe distance of the robot and each Beacon base stations is calculated in the signal reception power of Beacon base stations；According to the machinePeople obtains the present bit of the robot with the distance of the multiple Beacon base stations and the positional information of each Beacon base stationsConfidence ceases；The machine is planned according to the current location information of the robot, the positional information of destination and scene cartographic informationThe course of device people and navigation.
It will be understood by those skilled in the art that the structure shown in Fig. 3, the only part related to application scheme knotThe block diagram of structure, does not form the restriction for the robot being applied thereon to application scheme, and specific robot can includeThan more or less parts shown in figure, either combine some parts or arranged with different parts.The processorIt can be CPU (Central Processing Unit, CPU), can also be other general processors, numeral letterNumber processor (Digital Signal Processor, DSP), application specific integrated circuit (Application SpecificIntegrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA)Either other PLDs, discrete gate or transistor logic, discrete hardware components etc..General processor can be withIt is microprocessor or the processor can also be any conventional processor etc., the processor is the control of the robotCenter, utilize the various pieces of various interfaces and the whole robot of connection.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be withThe hardware of correlation is instructed to complete by computer program, program can be stored in a non-volatile computer-readable storageIn medium, in the embodiment of the present invention, the program can be stored in the storage medium of robot, and by the robot at leastOne computing device, to realize the flow for including the embodiment such as above-mentioned each method.Wherein, storage medium can be magnetic disc, lightDisk, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory,RAM) etc..
If it is understood that the integrated unit is realized in the form of SFU software functional unit and is used as independent productionProduct are sold or in use, can be stored in a corresponding computer read/write memory medium.Based on such understanding, this hairThe bright all or part of flow realized in above-mentioned corresponding embodiment method, correlation can also be instructed by computer programHardware is completed, and described computer program can be stored in a computer-readable recording medium, the computer program is being locatedManage device perform when, can be achieved above-mentioned each embodiment of the method the step of.Wherein, the computer program includes computer program generationCode, the computer program code can be source code form, object identification code form, executable file or some intermediate formsDeng.The computer-readable medium can include：Any entity or device, the record of the computer program code can be carriedMedium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), withMachine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to legislation in jurisdiction and patent practiceIt is required that carry out appropriate increase and decrease, such as in some jurisdictions, do not wrapped according to legislation and patent practice, computer-readable mediumInclude electric carrier signal and telecommunication signal.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be withRealize by another way.For example, device embodiment described above is only schematical, for example, the unitDivision, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizingAnother system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown orThe mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unitClose or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unitThe part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multipleOn NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can alsoThat unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated listMember can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or useWhen, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantiallyThe part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software productsEmbody, the computer software product is stored in a storage medium, including some instructions are causing a robot(can be personal computer, server, or network equipment etc.) perform each embodiment methods described of the present invention whole orPart steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory),Random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with store program codesMedium.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to beforeEmbodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to precedingState the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And theseModification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.